JP5012602B2 - Tubular laminated structure - Google Patents

Description

  The present invention relates to a tubular laminated structure for supporting a transported body as a part of a robot or a transport device used when transporting a substrate such as a liquid crystal substrate or a transparent glass substrate in a liquid crystal display device or a semiconductor manufacturing process. About the body.

  In a liquid crystal display device or a semiconductor manufacturing process, when a substrate such as a liquid crystal substrate or a transparent glass substrate is processed, the substrate is transferred using a robot or a transfer device. When a substrate is transported, a plurality of fork-like structures are used as members for supporting the substrate. Conventionally, a structure made of aluminum has been generally used. In recent years, along with the increase in size of substrates, the length of fork-like structures has increased, and for the purpose of storing a large number of substrates in a cassette that accommodates substrates to improve production efficiency, There is a great demand for reducing the load deflection due to the weight of the substrate when the substrate is supported. Therefore, in place of conventional aluminum, fiber reinforced plastic (hereinafter sometimes referred to as “FRP”), in particular, carbon fiber reinforced plastic having a large specific strength and specific elastic modulus (hereinafter referred to as “CFRP”) may be used. It has been proposed to produce a fork-like structure using (see, for example, Patent Document 1). According to this, by using the fiber reinforced plastic, it is possible to obtain a fork-like structure having lightness, strength and rigidity sufficient to reduce the deflection.

On the other hand, the fork-like structure needs vibration damping. This is problematic in that the vibration of the fork-like structure is not completely contained, but the robot and the transfer device cannot go to pick up the substrate and the substrate being transferred cannot be stored in the cassette. By improving the waiting time, the waiting time is reduced, and the time required for conveyance can be substantially shortened. Further, by improving the vibration damping performance, it becomes possible to detect the position of a sensor attached to the robot or the transfer device with good response when the robot or the transfer device stops. For example, in order to improve vibration damping, a structure in which a viscoelastic plastic film is interposed between at least a part of layers of a carbon fiber laminated material has been proposed (for example, see Patent Document 2). In the tubular structure generally used as the viscoelastic plastic between the carbon fiber laminates forming the outer shell, sufficient shear deformation does not occur, and there is a limit to improving the vibration damping property.
Japanese Patent No. 3632841 JP 2005-150510 A

  In view of the current state of the prior art, an object of the present invention is a structure that improves vibration damping while maintaining the advantages of light weight, high strength, and high rigidity of a fork member using FRP or CFRP, and in particular, the conventional method is sufficient. An object of the present invention is to provide a tubular laminated structure capable of remarkably improving vibration damping in a tubular structure in which vibration damping is difficult to obtain.

In order to achieve the above object, the present invention employs the following means. That is,
(1) A tubular laminated structure, which is composed of a fiber reinforced plastic including at least two or more reinforcing fiber layers in which partially discontinuous reinforcing fibers are aligned in one direction, and is more lossy than the fiber reinforced plastic. A tubular laminated structure characterized in that a viscoelastic member layer having a large coefficient is disposed in a part of at least one of the reinforcing fiber layers so as to be in contact with at least a part of the end part of the reinforcing fiber. .
(2) The partially discontinuous reinforcing fiber is a reinforcing fiber having a length in the range of 6 to 500 mm and not exceeding 1/4 of the total length of the tubular laminated structure. The tubular laminated structure according to (1).
(3) In the reinforcing fiber layer in which the partially discontinuous reinforcing fibers are aligned in one direction, a terminal portion of the reinforcing fibers has a boundary line shape continuously arranged between adjacent reinforcing fibers, The length of the boundary line is in the range of 5 to 100 mm and does not exceed 1/3 of the maximum outer peripheral length of the tubular laminated structure, (1) or (2) body.
(4) The tubular laminated structure according to (3), wherein the boundary line forms a straight line having an angle in a range of 30 ° to 150 ° with respect to the fiber length direction of the reinforcing fiber.
(5) In the reinforcing fiber layer in which the partially discontinuous reinforcing fibers are aligned in one direction, when the tubular laminated structure is projected in the thickness direction of the reinforcing fiber layer, boundaries between the plurality of reinforcing fiber layers The tubular laminated structure according to (3) or (4), wherein at least one portion is disposed so as not to overlap each other.
(6) When the tubular laminated structure is projected in the thickness direction of the reinforcing fiber layer in the reinforcing fiber layer in which the partially discontinuous reinforcing fibers are aligned in one direction, the boundary lines of the plurality of reinforcing fiber layers The tubular laminated structure according to any one of (3) to (5), wherein the tubular laminated structures are arranged so that at least one portion does not intersect with each other.
(7) The tubular laminated structure according to any one of (1) to (6), wherein the outer shape of the cross section perpendicular to the axial direction of the tube is a rectangular shape.
(8) The tubular laminate structure according to any one of (1) to (6), wherein the outer shape of the cross section perpendicular to the axial direction of the tube includes a circular shape including an ellipse. Structure.
(9) Any one of (1) to (8), wherein an outer peripheral length of a cross section perpendicular to the axial direction of the tube of the tubular laminated structure includes a region that smoothly changes along the axial direction of the tube. A tubular laminated structure according to claim 1.
(10) The tubular laminated structure according to any one of (1) to (9), wherein at least 50% by weight or more of the reinforcing fibers constituting the tubular laminated structure are carbon fibers.
(11) The tubular laminated structure according to any one of (1) to (10), wherein the viscoelastic member layer having a larger loss coefficient than the fiber reinforced plastic is a thermoplastic resin composition.
(12) The reinforcing fiber layer in which the partially discontinuous reinforcing fibers are aligned in one direction is parallel to the neutral plane of the bending deformation in the axial direction of the tube, and the partially discontinuous reinforcing The tubular laminated structure according to any one of (1) to (11), wherein the reinforcing fiber layer in which fibers are aligned in one direction does not include a neutral surface of bending deformation.
(13) The tubular laminated structure according to any one of (1) to (12), wherein the tubular laminated structure is used for a part of a conveying device by a structure in which the object to be conveyed is held by cantilever support.

  The tubular laminated structure according to the present invention has excellent vibration damping properties as a tubular laminated structure in addition to light weight and high rigidity. That is, as described above, the reinforcing fibers of each layer are partially discontinuous at predetermined intervals in the fiber length direction, so that the viscoelasticity arranged between the layers when the tubular laminated structure is deformed. Since shear deformation occurs in the member, vibration is attenuated efficiently. Therefore, when the tubular laminated structure according to the present invention is used as, for example, a structural member of a robot, it is possible to contribute to a substantial reduction in transport time.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram schematically showing a cross-sectional shape of a tubular laminated structure according to an embodiment of the present invention, and FIG. 2 is a tubular structure composed only of a typical fiber-reinforced plastic laminate according to the prior art. FIG. 2 is a schematic diagram showing a cross-sectional shape of a laminated structure, and the outer shell of the tubular laminated structure has a hollow structure made of fiber reinforced plastic 1.

  Here, the term “tubular” refers to a structure in which the cross-sectional shape in a direction perpendicular to the axial direction forms a shell with a hard material, and the inside is filled with a material containing cavities or bubbles or filled with a low-density material such as a honeycomb. means.

  It is important that the tubular laminated structure according to the present invention is composed of a fiber reinforced plastic 1 including at least two or more reinforcing fiber layers 2 and 2 'in which partially discontinuous reinforcing fibers are aligned in one direction. Further, as shown in FIG. 3, the viscoelastic member layer 3 having a larger loss coefficient than that of the fiber reinforced plastic is provided with a part of at least one layer between the reinforcing fiber layers 2 and 2 ′. It is important that it is arranged to contact at least a part of the end portion 4 of the fiber.

  By providing the viscoelastic member layer between the reinforcing fiber layers of the fiber reinforced plastic, the vibration damping property can be improved. In this case, when a bending moment acts on the fiber reinforced plastic member, shear stress is generated between the layers of the reinforcing fiber layer, so that vibration is effectively absorbed by the shear deformation of the interlayer viscoelastic member layer. The shear stress generated between the layers is maximum at the neutral surface of the bending deformation, and becomes zero at a position farthest from the neutral surface. In the case of a tubular laminated structure, since it has a hollow shape, the viscoelastic member layer has to be disposed at a position far from the neutral surface, and therefore a great improvement in vibration damping is obtained even if a viscoelastic member layer is provided between the layers. Is difficult. Therefore, a great improvement in vibration damping can be obtained by partially dividing the reinforcing fiber and intentionally causing shear deformation in the viscoelastic member in contact with the boundary of the fiber. Further, even in the case of tensile compression deformation in which vibration damping is hardly obtained in the case of continuous fibers, great vibration damping is obtained because shear deformation occurs at the fiber boundary by partially dividing the reinforcing fiber. The viscoelastic member layer 3 does not necessarily exist over the entire length of the tubular laminated structure.

  The reinforcing fiber layer preferably has a thickness of 30 mm or less so that the tubular laminated structure can be molded. When a thickness of 30 mm or more is laminated, it is not possible to perform appropriate pressurization and heating for processing into a tubular laminated structure, and the desired tubular laminated structure cannot be formed, or molding must be performed in multiple steps. There is a fear.

  The ratio of the reinforcing fiber layer and the viscoelastic member layer in the tubular laminated structure is preferably 10: 1 or more and 10: 7 or less in terms of the number of laminated layers. When the ratio is less than 10: 1, it is extremely difficult to form a tubular laminated structure having an effective reinforcing fiber layer for obtaining vibration damping properties. There is a risk that the rigidity is significantly reduced.

  Moreover, it is preferable that the partially discontinuous reinforcing fibers have a length of 6 to 500 mm and do not exceed 1/4 of the total length of the tubular laminated structure. If the reinforcing fiber of the reinforcing fiber layer constituting the tubular laminated structure is less than 6 mm, the rigidity of the formed tubular laminated structure may be remarkably reduced. If the reinforcing fiber layer exceeds 500 mm, a remarkable vibration damping property may be obtained. In the case of a reinforcing fiber layer in which reinforcing fibers having a length exceeding 1/4 of the total length of the tubular laminated structure are aligned in one direction, it is effective for obtaining damping properties. It becomes extremely difficult to form a tubular laminated structure having a reinforcing fiber layer. Moreover, since there exists a possibility of the remarkable rigidity fall of the formed tubular laminated structure, it is preferable that the reinforcing fiber of a reinforcing fiber layer is longer than 1/200 of the full length of a tubular laminated structure.

  Furthermore, the viscoelastic member layer 3 having a larger loss coefficient than the fiber reinforced plastic constitutes the reinforced fiber layers 2 and 2 ′ in a part of at least one of the layers between the reinforcing fiber layers 2 and 2 ′. If the viscoelastic member layer 3 is not arranged so as to be in contact with at least a part of the end portion 4 of the reinforcing fiber, it is very difficult to cause a large shear deformation in the viscoelastic member layer 3.

  Here, the loss factor is also referred to as Tan δ, which means the ratio of the loss elastic modulus to the storage elastic modulus measured in tension, shear, compression, or longitudinal compression, and is defined by JIS K6900 (1994). Viscoelasticity means a response of stress depending on time, temperature, load and load speed of a material that behaves as if it is a combination of an elastic solid and a fluid viscous fluid. JIS K6900 (1994) Is defined by

  The loss factor of the viscoelastic member is preferably 0.04 to 10 at 25 ° C., and the loss factor of the fiber reinforced plastic is preferably 0.001 to 0.005.

  Further, in the reinforcing fiber layer 2 in which the partially discontinuous reinforcing fibers are aligned in one direction, the end portions 4 of the reinforcing fibers form a boundary line continuously arranged between adjacent reinforcing fibers. The length of the boundary line 6 is preferably in the range of 5 to 100 mm and does not exceed 1/3 of the maximum outer peripheral length of the tubular laminated structure.

  When the length of the boundary line is less than 5 mm, sufficient shear deformation does not easily occur in the viscoelastic member layer 3 and it may be difficult to obtain significant vibration damping properties. In addition, when the length exceeds 100 mm, the rigidity of the formed tubular laminated structure may be significantly reduced, and when the length exceeds 1/3 of the maximum outer peripheral length of the tubular laminated structure, vibration damping is obtained. Therefore, it is extremely difficult to form a tubular laminated structure having an effective reinforcing fiber layer. Here, the outer peripheral length indicates the peripheral length of a cross section orthogonal to the fiber length direction of the tubular laminated structure.

  Furthermore, it is preferable that the boundary line is linear from the viewpoint of productivity. Moreover, it is preferable that a boundary line exists in the range of 30 degrees-150 degrees with respect to a fiber length direction. When the boundary line is at an angle of less than 30 ° or more than 150 ° with respect to the fiber length direction, the reinforcing fiber aligned in one direction and the boundary line are nearly parallel, and the reinforcing fiber is divided discontinuously. Therefore, sufficient vibration damping performance cannot be obtained.

  Furthermore, from the viewpoint of vibration damping properties, it is preferable that the boundary line is linear with an angle in the range of 70 ° to 110 ° with the fiber length direction. For example, a preferred embodiment includes a reinforcing fiber layer at an angle of 90 ° with the fiber length direction as shown in FIG.

  In general, when an excessive load is applied to a reinforced fiber resin molded product, there is a tendency to break from the boundary of continuously reinforced fibers. When the tubular laminated structure of the present invention is used as a cantilever beam, for example, maximum stress is generated in the vicinity of the fixed end. Therefore, the boundary position of the reinforcing fiber in the vicinity of the fixed end is highly likely to be the starting point of fracture. In particular, when the boundary line of the reinforcing fiber is provided at a position that is the same distance from the end of the tubular laminated structure and forms an angle of 90 ° with the fiber length direction, the main stress surface where the stress becomes the maximum value and the reinforcement Since the boundary lines of the fibers coincide with each other, cracks (reinforcement of reinforcing fibers) gradually occur from the end portions of the boundary lines, and when the cracks progress, the entire reinforcing fiber layer may be torn.

  Then, when calculating | requiring intensity | strength to a tubular laminated structure, the boundary line is made into the linear form which has an angle of the range of 30 degrees-70 degrees or 110 degrees-150 degrees with the fiber length direction, and a boundary line is set. Compared to the case where the angle is in the range of 70 ° to 110 °, the decrease in vibration damping is suppressed to a sufficiently small level, while the main stress surface and the boundary line are provided with a certain degree of angle, thereby suppressing the decrease in strength. is there. For example, as a preferred embodiment, there is a reinforcing fiber layer at an angle of 45 ° with the fiber length direction as shown in FIG.

  The present invention is not particularly limited to this. Here, FIG. 1 shows a cross section in a direction perpendicular to the arrangement of the reinforcing fiber layers in FIG. Furthermore, as shown in FIGS. 4A and 4C, it is also preferable to combine reinforcing fiber layers having boundary lines with different angles.

  Here, the angle of the boundary line is measured counterclockwise with respect to the fiber length direction as shown in FIG. In addition, when there is no front and back in a reinforcing fiber layer, the angle of a different boundary line can be obtained by turning over (for example, 60 degrees and 120 degrees, etc.).

  In the reinforcing fiber layer in which the partially discontinuous reinforcing fibers are aligned in one direction, when the tubular laminated structure is projected in the thickness direction of the reinforcing fiber layer, the boundary lines of the plurality of reinforcing fiber layers are However, it is preferable that at least one portion is arranged so as not to overlap each other. For example, as one embodiment, at least one location in the positional relationship between the boundary lines in the thickness direction of the reinforcing fiber layer, such as laminating the reinforcing fiber layer shown in FIG. Are preferably arranged so as not to overlap each other, but the present invention is not particularly limited to this. In the case of a tubular laminated structure that does not satisfy the above-mentioned reinforcing fiber conditions or the lamination relationship of the reinforcing fiber layers, the boundary line overlaps in the thickness direction, and the rigidity and strength of the tubular laminated structure may be significantly reduced. . It is also preferable that the reinforcing fiber layer of FIG. 4 (c) is laminated on the reinforcing fiber layer of FIG. 4 (a) and arranged so that at least one of the boundary lines in the thickness direction of the reinforcing fiber layer does not intersect. . Reinforcement fiber layers with different angles even when some of the reinforcement fiber layers crack from the boundary line by overlapping reinforcement fiber layers with different boundary line angles with respect to the fiber length direction. It is possible to maintain strength.

  4A to 4D, the length of one boundary line 6 is the slit length, and the length of one boundary line 6 and the next boundary line 6 adjacent thereto is in the reinforcing fiber layer. The length is in the range of 6 to 500 mm and does not exceed 1/4 of the total length of the tubular laminated structure.

  Moreover, as a method of slitting the reinforcing fibers of the surface layer and the inner layer as shown in FIGS. 4A to 4D to put a boundary line, prepregs that have been cut into strips of the same size in advance are shown in FIG. (A)-(d) It can obtain by laminating | stacking sequentially the prepreg which gave the slit process of each pattern according to a desired structure. Here, the slit machining method is not particularly limited, and a cutting plotter device that moves the trajectory set by the cutter is used, or a jig in which a plurality of slit blades are arranged in advance at a predetermined interval is created. Alternatively, the slit may be formed by punching or the like while moving the reinforcing fiber layer.

  The outer shape of the cross section perpendicular to the axial direction of the tube of the tubular laminated structure is preferably rectangular. In the case of a tubular laminated structure having the same weight, a rectangular shape is most advantageous for rigidity. Alternatively, adjacent sides may be polygonal shapes having curved surfaces that do not necessarily form corners. For example, one corner of the triangle may be rounded. Furthermore, a circular shape including an ellipse may be used. Depending on external factors such as interference with other members, there may be a circular shape that is disadvantageous in rigidity.

  The tubular laminated structure may include a region in which an outer peripheral length of a cross section perpendicular to the axial direction of the tube changes smoothly along the axial direction of the tube. Specifically, a part of the tubular laminated structure may have a tapered shape along the axial direction of the tube. Depending on the accommodation space of the cassette in which the transported object is accommodated, it may not be possible to insert the tubular laminated structure having the same cross-sectional shape to the back of the cassette.

  The ratio of the whole reinforcing fiber in the fiber reinforced plastic layer of the tubular laminated structure of the present invention is preferably 10 to 90% by weight, more preferably 30 to 90% by weight, and more preferably 50 to 90% by weight in 100% by weight of the fiber reinforced plastic layer. % Range is more preferred. If the amount of the reinforcing fiber is less than 10% by weight, the rigidity of the reinforcing fiber is not sufficiently utilized, and if it exceeds 90% by weight, defects such as voids are likely to occur in the material.

  Further, as the reinforcing fiber constituting the tubular laminated structure, carbon fiber, glass fiber, organic high modulus fiber (for example, polyaramid fiber “Kevlar” (registered trademark) manufactured by DuPont, USA), alumina fiber , High strength and high modulus fibers such as silicon carbide fiber, boron fiber, silicon carbide fiber, etc. are mentioned, but in order to make a tubular laminated structure having high rigidity, at least 50% by weight or more is carbon fiber. Is preferred. Furthermore, these fibers can be used alone or in combination of two or more. For example, depending on the purpose, glass fibers and carbon fibers can be used in combination as reinforcing fibers constituting the tubular laminated structure.

  In addition, examples of the matrix resin constituting the fiber reinforced plastic layer include thermoplastic resins and thermosetting resins, but thermosetting resins are more preferable in order to achieve high rigidity and strength. Examples of thermosetting resins include cured products such as epoxy resins, vinyl ester resins, unsaturated polyester resins, diallyl phthalate resins, phenol resins, maleimide resins, cyanate resins, benzoxazine resins, and dicyclopentadiene resins. However, it is particularly preferable to use an epoxy resin that is excellent in adhesion and mechanical properties. The epoxy resin used in the present invention is not particularly limited as long as it has an epoxy group in the molecule. For example, bisphenol A type epoxy resin, bisphenol F type epoxy resin, phenol novolac type epoxy resin, cresol novolak type epoxy resin Bisphenol AD type epoxy resin, biphenyl type epoxy resin, naphthalene type epoxy resin, alicyclic epoxy resin, glycidyl ester type resin, glycidyl amine type epoxy resin, heterocyclic epoxy resin, diaryl sulfone type epoxy resin, hydroquinone type epoxy resin And modified products thereof, and the like, and these can be used alone or in combination.

  The viscoelastic member layer having a larger loss factor than the fiber reinforced plastic constituting the tubular laminated structure may be a thermosetting resin composition or a thermoplastic resin composition, but generally has a higher viscoelasticity thermoplastic. A resin composition is preferred. Here, as the thermoplastic resin composition, polyester resins such as thermoplastic polyether polyurethane, polyamide resin, modified phenylene ether resin, polyacetal resin, polyphenylene sulfide resin, liquid crystal polyester, polyethylene terephthalate, polybutylene terephthalate, polycyclohexane dimethyl terephthalate, etc. , Polyarylate resin, polycarbonate resin, polystyrene resin, HIPS resin, ABS resin, AES resin, styrene resin such as AAS resin, acrylic resin such as polymethyl methacrylate resin, polyolefin resin such as vinyl chloride, polyethylene, polypropylene, modified polyolefin Resin, ethylene / propylene copolymer, ethylene / 1-butene copolymer, ethylene / propylene / die Copolymer, ethylene / carbon monoxide / diene copolymer, ethylene / glycidyl (meth) acrylate, ethylene / vinyl acetate / glycidyl (meth) acrylate, polyether ester elastomer, polyether ether elastomer, poly Various elastomers such as ether ester amide elastomers, polyester amide elastomers, polyester ester elastomers and the like can be mentioned. Especially, the loss coefficient at 25 ° C. is in the range of 0.04 to 10, and vibration energy is effectively converted into thermal energy. As the member that can be converted, a thermoplastic polyether polyurethane film that is a thermoplastic elastomer film that is not subjected to stretching treatment when the film is produced is suitable.

  The reinforcing fiber layer in which the partially discontinuous reinforcing fibers constituting the tubular laminated structure are aligned in one direction is parallel to the neutral plane of the bending deformation in the axial direction of the tube and partially discontinuous. It may be a tubular laminated structure characterized in that a reinforcing fiber layer in which various reinforcing fibers are aligned in one direction does not include a neutral surface of bending deformation. For example, the reinforcing fibers constituting both side surfaces of a tubular laminated structure whose outer shape in a direction perpendicular to the axial direction of the tube is rectangular are continuous fibers over the entire length of the tubular laminated structure, and The structure which arrange | positioned the reinforcement fiber layer by which the said boundary line was arrange | positioned so that only the reinforcement fiber which comprises a lower surface may become discontinuous may be sufficient.

  Here, the neutral surface means a surface that does not stretch or contract when a bending moment acts on the member.

  Since the above-mentioned tubular laminated structure is excellent in vibration damping properties while realizing high rigidity, for example, a transport device or a robot arm is considered suitable as a structure for holding a transported body with a cantilever support. The support member is not particularly limited to a support component that holds the transported body with cantilever support.

Since a comparative test of damping characteristics was performed for the example and the comparative example according to the present invention, the comparative test will be described below.
(1) Evaluation method The tubular laminated structure was cantilevered to give predetermined vibrations and evaluated for vibration characteristics, rigidity, strength, and weight. Specifically, as shown in FIG. 5, the weights of tubular laminated structures having a maximum outer peripheral length of 116.2 mm were measured by using only electrons and compared. Only one end was constrained so as to have a length of 700 mm excluding the one end support portion of the tubular laminated structure, and a 1 kg weight was hung near the free end with the other end as a free end. Before and after placing the weight, the height of the tip on the free end side was measured with a laser displacement meter, and the difference was compared as the deflection due to the weight. The amplitude of the free end when the weight was removed was read with a laser displacement meter 7. The read displacement is displayed as a decay waveform on the display 8 of the computer, the half-life is calculated from the waveform, and the damping effect is compared. The loss factor of the fiber reinforced plastic is 0.001. Further, a weight of 1 kg was added in the vicinity of the free end until the tubular laminated body broke, and the strength was compared using the total weight of the weights when breaking as the breaking load.
(2) Material The material used for the Example and the comparative example is as follows.

Tensile aligned in sheet form continuous carbon fiber of elastic modulus 230 GPa (Toray Industries Co., Ltd. "Torayca" (registered trademark) T700SC) in one direction, the carbon fiber weight per unit area 150 g / ^{m 2} impregnated with epoxy resin, carbon fiber A UD prepreg having a content of 67% by weight: P3052S-15 (hereinafter, this prepreg is referred to as PP) was prepared.

  -Moreover, the boundary line arrange | positioned at the said prepreg which satisfy | fills the conditions of this invention shall be a thing shown in FIG.4 (a), FIG.4 (b), FIG.4 (c), FIG.4 (d), Specifically, it was obtained by slitting the prepreg. Here, in FIGS. 4A and 4B, the length of the boundary line formed by slit processing is 12.5 mm, and the length of the reinforcing fiber formed by the boundary line is 25.4 mm. 4 (c) and 4 (d), the slit forms 45 ° with respect to the fiber direction (longitudinal direction in the figure), and the length of the boundary line is 17.7 mm, which is formed by the boundary line. The length of the reinforcing fiber is 25.4 mm. The boundary line in FIG. 4D is located at a position shifted by 12.7 mm along the fiber direction with respect to FIG.

  Hereinafter, PP (1) is the prepreg having the slit pattern of FIG. 4A, PP (2) is the prepreg having the slit pattern of FIG. 4B, and prepreg having the slit pattern of FIG. Is PP (3), and the prepreg having the slit pattern shown in FIG. 4D is PP (4). These PPs can be used even when turned over. For the slit processing, a cutting plotter device that moves a trajectory set by the blade was used.

-Mobilon (registered trademark): MF50T (manufactured by Nisshinbo Co., Ltd.) (hereinafter, Mobilon is referred to as M), which is a thermoplastic polyether polyurethane film, was prepared as a viscoelastic member. The loss factor is 0.043.
(3) Molding method The tubular laminated structures used in Examples and Comparative Examples were molded by heating at 135 ° C. for 2 hours at a pressure of 0.3 MPa in a predetermined laminated structure described later.

Example 1
Using PP (1), PP (2) and M, [PP (2) 3 layer / M1 layer / PP (1) 2 layer / M1 layer / PP (2) 2 layer / A tubular laminated structure in which the outer shape of the cross section perpendicular to the axial direction of the tube is a rectangular shape with a laminated configuration of M1 layer / PP (1) 3 layers] was formed.

(Example 2)
A tubular laminated structure having the same laminating structure as that of the first embodiment, the outer shape of the cross section perpendicular to the axial direction of the tube is rectangular, and the height smoothly changes along the axial direction of the tube. Molded.

(Example 3)
Using PP (3), PP (4) and M, [PP (3) 3 layer / M1 layer / PP (4) 2 layer / M1 layer / PP (3) 2 layer / A tubular laminated structure in which the outer shape of the cross section perpendicular to the axial direction of the tube is rectangular is formed with a laminated structure of M1 layer / PP (4) 3 layer].

Example 4
Using PP (1), PP (3) and M, [PP (1) 3 layer / M1 layer / PP (3) 2 layer / M1 layer / PP (1) 2 layer / A tubular laminated structure in which the outer shape of the cross section perpendicular to the axial direction of the tube is a rectangular shape with a laminated structure of “M1 layer / PP (3) 3 layer]” was formed.

(Comparative Example 1)
Using only PP, a tubular laminated structure in which the outer shape of the cross section perpendicular to the axial direction of the tube is rectangular is formed from the inner side of the tubular laminated structure with a [PP10 layer] laminated structure.

(Comparative Example 2)
[PP (2) 3 layer / PP (1) 2 layer / PP (2) 2 layer / PP (1) 3 layer] from the inside of the tubular laminated structure using PP (1) and PP (2) In the laminated configuration, a tubular laminated structure in which the outer shape of the cross section perpendicular to the axial direction of the tube is rectangular is formed.

(Comparative Example 3)
Using PP and M, from the inside of the tubular laminate structure, [PP3 layer / M1 layer / PP2 layer / M1 layer / PP2 layer / M1 layer / PP3 layer] in a laminated configuration perpendicular to the axial direction of the tube A tubular laminated structure having a rectangular cross-sectional outer shape was formed.

(Comparative Example 4)
Except for the angle of the slit being 25 ° (155 ° when used upside down), a tubular structure in which the outer shape of the cross section perpendicular to the axial direction of the tube is rectangular in the same laminated configuration as in Example 3. A laminated structure was formed. The length of the boundary line was 29.6 mm.

FIG. 6 shows a vibration attenuation waveform obtained in Example 1 in which the horizontal axis represents time and the vertical axis represents amplitude. FIG. 7 shows a vibration attenuation waveform obtained in Comparative Example 1 in which the horizontal axis represents time and the vertical axis represents amplitude. From the comparison of both figures, it is clear that the vibration characteristics of the tubular laminated structure according to the present invention are remarkably improved.
Table 1 summarizes the evaluation test results of each example and each comparative example.

  From the evaluation results, in comparison with Comparative Examples 1 and 3 using PP that has not been subjected to slit processing, Examples 1 to 4 subjected to slit processing are halved while maintaining substantially the same rigidity and strength. The period can be reduced by at least about 20%.

  As described above, the vibration-damping tubular laminated structure according to the present invention has the shear stress that is generated most in the neutral plane of bending deformation by slitting the prepreg and arranging the viscoelastic member between the fiber reinforced plastic layers. Can be greatly expressed even at a location away from the neutral plane, so that it was possible to effectively exhibit vibration damping. As a result, it is possible to provide a tubular laminated structure that is as light and rigid as a typical tubular laminated structure made of fiber-reinforced plastic according to the prior art, and that has high vibration damping properties, and a liquid crystal display. When used as a part of a robot or a transport device used for transporting a substrate such as a liquid crystal substrate or a transparent glass substrate in an apparatus or a semiconductor manufacturing process, it can greatly contribute to production capacity.

It is a schematic diagram of the cross section orthogonal to the axial direction of the pipe | tube of the tubular laminated structure in one Embodiment of this invention. It is a schematic diagram of the cross section orthogonal to the axial direction of the pipe | tube of the typical tubular laminated structure by a prior art. It is a schematic diagram which shows the lamination | stacking state of the reinforced fiber layer and viscoelastic member layer in one Embodiment of this invention. (A) is sectional drawing of the reinforced fiber layer which shows embodiment of the slit process given to a prepreg, (b), (c), (d) is the fiber reinforced layer which shows other embodiment of the slit process given to a prepreg. FIG. It is the figure explaining the outline | summary of the damping characteristic evaluation test method of a tubular laminated structure. It is a figure which shows the vibration characteristic of Example 1 obtained as a result of the evaluation test shown in FIG. It is a figure which shows the vibration characteristic of the comparative example 1 obtained as a result of the evaluation test shown in FIG.

Explanation of symbols

1: Fiber reinforced plastic 2, 2 ′: Reinforcing fiber layer 3: Viscoelastic member layer 4: End portion of reinforcing fiber 5: Reinforcing fiber 6: Boundary line 7: Laser displacement meter 8: Computer display

Claims (13)

It is a tubular laminated structure, and is composed of a fiber reinforced plastic including at least two reinforcing fiber layers in which partially discontinuous reinforcing fibers are aligned in one direction, and has a larger loss factor than the fiber reinforced plastic. A tubular laminated structure, wherein a viscoelastic member layer is disposed in a part of at least one of the reinforcing fiber layers so as to be in contact with at least a part of the end part of the reinforcing fiber. The partially discontinuous reinforcing fiber is a reinforcing fiber having a length in the range of 6 to 500 mm and a length not exceeding 1/4 of the total length of the tubular laminated structure, The tubular laminated structure according to claim 1. In the reinforcing fiber layer in which the partially discontinuous reinforcing fibers are aligned in one direction, the end portions of the reinforcing fibers form a boundary line continuously arranged between adjacent reinforcing fibers, the boundary line The tubular laminated structure according to claim 1, wherein the length of the tubular laminated structure is within a range of 5 to 100 mm and does not exceed 1/3 of the maximum outer peripheral length of the tubular laminated structure. The tubular laminated structure according to claim 3, wherein the boundary line has a linear shape with an angle in a range of 30 ° to 150 ° with respect to the fiber length direction of the reinforcing fiber. In the reinforcing fiber layer in which the partially discontinuous reinforcing fibers are aligned in one direction, when the tubular laminated structure is projected in the thickness direction of the reinforcing fiber layer, the boundary lines of the plurality of reinforcing fiber layers are at least The tubular laminated structure according to claim 3 or 4, wherein one portion is arranged so as not to overlap each other. In the reinforcing fiber layer in which the partially discontinuous reinforcing fibers are aligned in one direction, when the tubular laminated structure is projected in the thickness direction of the reinforcing fiber layer, the boundary lines of the plurality of reinforcing fiber layers are at least The tubular laminated structure according to any one of claims 3 to 5, wherein one portion is arranged so as not to intersect. The tubular laminated structure according to any one of claims 1 to 6, wherein in the tubular laminated structure, an outer shape of a cross section perpendicular to the axial direction of the tube is a rectangular shape. The tubular laminated structure according to any one of claims 1 to 6, wherein the outer shape of a cross section perpendicular to the axial direction of the tube includes a circular shape including an ellipse. The tubular according to any one of claims 1 to 8, wherein an outer peripheral length of a cross section perpendicular to the axial direction of the tube of the tubular laminated structure includes a region that smoothly changes along the axial direction of the tube. Laminated structure. The tubular laminated structure according to any one of claims 1 to 9, wherein at least 50% by weight or more of the reinforcing fibers constituting the tubular laminated structure are carbon fibers. 11. The tubular laminated structure according to claim 1, wherein the viscoelastic member layer having a larger loss coefficient than the fiber reinforced plastic is a thermoplastic resin composition. The reinforcing fiber layer in which the partially discontinuous reinforcing fibers are aligned in one direction is parallel to the neutral surface of the bending deformation in the axial direction of the tube, and the partially discontinuous reinforcing fibers are in one direction. The tubular laminated structure according to any one of claims 1 to 11, wherein the neutral surface is not included in the reinforcing fiber layer that is aligned in the above. The tubular laminated structure according to any one of claims 1 to 12, wherein the tubular laminated structure is used in a part of a transport device by a structure in which the transported body is held by cantilever support.

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